A container palletizing robot

Abstract

The present invention discloses a container palletizing robot, comprising: a main conveyor belt, a lowering device, a transverse receiving belt, a transverse shifting part, a front end manipulator part, a transverse shifting base, a main frame, and universal wheels; the main conveyor belt is connected to the lowering device, the lowering device is horizontally connected to the main conveyor belt, and is connected to the main frame; the transverse receiving belt is located below the lowering device and is fixed on the main frame; the transverse shifting part is located below the transverse receiving belt; the front end manipulator part is connected to the transverse shifting part; there are 8 sets of universal wheels in total, 4 sets are installed below the main frame, and 4 sets are installed below the main conveyor belt; the present invention realizes automatic loading of feed bags in containers, replaces the traditional manual stacking method, liberates manpower, improves loading efficiency, and can place feed bags at various positions and angles in space, fully utilizes the space in the vehicle, and increases loading capacity.

Description

Technical Field

[0001] The invention relates to the field of automatic loading, in particular to a container stacking robot. Background Art

[0002] Nowadays, many feed mills use containers for the transportation and export of bagged feed. Due to the huge amount of feed in feed mills, traditional loading manipulators cannot adapt to the situation of containers, and there is no special machinery to load feed bags, so a lot of manual operation is required. Due to the harsh environment in the container, containing a lot of dust, high temperature or low temperature environment has a great impact on the health of workers, so a device with automatic stacking ability in the container and extremely high degree of freedom is needed to achieve this function. Summary of the invention

[0003] In view of the shortcomings of the existing technology, the present invention designs a container palletizing robot, which aims to achieve continuous palletizing of bagged goods along the path of the robot.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A container palletizing robot comprises a main conveyor belt, a lowering device, a transverse receiving belt, a transverse movement part, a front end manipulator part, a transverse movement base, a main frame and universal wheels; the main conveyor belt is connected to the lowering device, the lowering device is horizontally connected to the main conveyor belt and is connected to the main frame; the transverse receiving belt is located below the lowering device and is fixed on the main frame; the transverse movement part is located below the transverse receiving belt; the front end manipulator part is connected to the transverse movement part; there are 8 sets of universal wheels in total, 4 sets are installed below the main frame and 4 sets are installed below the main conveyor belt, so as to realize the overall movement of the palletizing robot in the container.

[0006] Furthermore, the lowering device includes a roller, a photoelectric switch, and a lowering plate; the roller is located above the lowering plate, kept level with the main conveyor belt, and the roller is powered; the photoelectric switch is located on the lowering plate; the lowering plate is of a double-opening type, divided into two halves along the middle, and has a built-in cylinder to provide opening power.

[0007] Furthermore, the transverse movement part includes a pushing device, a front end receiving belt of the telescopic belt, a telescopic belt, a telescopic plate, a base, and a vertical moving frame; the pushing device includes: a pushing cylinder and a baffle; the pushing cylinder is fixed on the transverse movement base; the baffle is an L-shaped metal plate with a built-in sensor, which is fixed on the transverse movement base; the front end receiving belt of the telescopic belt is located below the transverse receiving belt and is fixed on the transverse movement base at 90 degrees to the transverse receiving belt; the telescopic belt is connected to the front end receiving belt of the telescopic belt, and the telescopic plate is a two-plate overlapping structure used to support the telescopic belt, and by changing the length of the overlapping part of the two plates and cooperating with the extension and contraction of the telescopic belt, the front end manipulator part can be adjusted in the height direction along with the vertical moving frame, and the vertical moving frame is fixed in the base; the base is a frame structure, which is fixed on the transverse movement base, and is driven by the transverse movement base through a ball screw installed on the main frame to achieve transverse movement.

[0008] Furthermore, the front-end manipulator part includes a main arm, a sub-arm, and an extrusion mechanism; the main arm has a built-in conveyor belt connected to the telescopic belt; the sub-arm is a parallelogram translation mechanism with a built-in flexible conveyor belt; the extrusion mechanism includes: a cylinder and an extrusion conveyor belt; the upper and lower extrusion conveyor belts are driven by four cylinders, and the distance between the extrusion conveyor belts is adjusted by changing the cylinder stroke to accommodate the output of feed bags of different thicknesses; the sub-arm is connected to the main arm, and the extrusion mechanism is connected to the sub-arm.

[0009] The beneficial effects that can be achieved by a container palletizing robot of the present invention are:

[0010] 1. It realizes the automatic loading of feed bags into containers, replacing the traditional manual stacking method, freeing up manpower and improving loading efficiency.

[0011] 2. The front-end manipulator part cooperates with the vertical moving frame and the base to enable the stacking robot to place feed bags at various positions and angles in the space, making full use of the space inside the vehicle and increasing the loading capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 : A three-dimensional structural schematic diagram of a container palletizing robot of the present invention.

[0013] In the figure: 1-main conveyor belt, 2-lowering device, 3-lateral receiving belt, 4-lateral movement part, 5-front end manipulator part, 6-lateral movement base, 7-main frame, 8-roller, 9-photoelectric switch, 10-lowering plate, 11-pushing device, 12-front end receiving belt of telescopic belt, 13-telescopic belt, 14-telescopic plate, 15-base, 16-vertical moving frame, 17-pushing cylinder, 18-baffle, 19-main arm, 20-auxiliary arm, 21-extrusion mechanism, 22-extrusion conveyor belt, 23-cylinder, 24-universal wheel. DETAILED DESCRIPTION

[0014] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0015] like Figure 1 As shown, the present invention provides a container palletizing robot, comprising: a main conveyor belt 1, a lowering device 2, a transverse receiving belt 3, a transverse moving part 4, a front end manipulator part 5, a transverse moving base 6, a main frame 7, and a universal wheel 24; the main conveyor belt 1 is connected to the lowering device 2, and the lowering device 2 is kept horizontal with the main conveyor belt 1; the transverse receiving belt 3 is located below the lowering device 2 and is fixed on the main frame 7; the transverse moving part 4 is located below the transverse receiving belt 3; the front end manipulator part 5 is connected to the transverse moving part 4; there are a total of 8 sets of universal wheels 24, 4 sets of which are installed below the main frame 7, and 4 sets of which are installed below the main conveyor belt 1, so as to realize the overall movement of the palletizing robot in the container.

[0016] Furthermore, the lowering device includes: a roller 8, a photoelectric switch 9, and a lowering plate 10; the roller 8 is connected to the main conveyor belt 1, keeps it horizontal with the main conveyor belt 1, and the roller 8 is powered; the photoelectric switch 9 is located on the lowering plate 10; the lowering plate 10 is located below the roller 8, and the lowering plate 10 is a double-opening type, divided into two halves along the middle, and has a built-in cylinder to provide opening power.

[0017] Furthermore, the transverse moving part 4 includes: a push-out device 11, a front end receiving belt 12 of the telescopic belt, a telescopic belt 13, a telescopic plate 14, a base 15, and a vertical moving frame 16; the push-out device 11 includes: a push-out cylinder 17 and a baffle 18; the push-out cylinder 17 is fixed on the transverse moving base 6; the baffle 18 is an L-shaped metal plate with a built-in sensor, which is fixed on the transverse moving base 6; the front end receiving belt 12 of the telescopic belt is located below the transverse receiving belt 3 and is fixed on the transverse moving base 6 at 90 degrees to the transverse receiving belt 3; the telescopic belt 13 is connected to the front end receiving belt 12 of the telescopic belt, and the telescopic plate 14 adopts a two-plate overlapping structure to support the telescopic belt 13, and by changing the length of the overlapping part of the two plates, cooperating with the telescopic belt 13, the front end manipulator part 5 can be adjusted in the height direction along with the vertical movable frame 16, and the vertical movable frame 16 is fixed in the base 15; the base 15 is a frame structure, fixed on the transverse base 6, and driven by the transverse base 6 through the ball screw installed on the main frame 7 to realize lateral movement.

[0018] Furthermore, the front-end manipulator part 5 includes: a main arm 19, a sub-arm 20, and an extrusion mechanism 21; the main arm 19 has a built-in conveyor belt connected to the telescopic belt 13; the sub-arm 20 is a parallelogram translation mechanism with a built-in flexible conveyor belt; the extrusion mechanism 21 includes: a cylinder 23 and an extrusion conveyor belt 22; the four cylinders 23 drive the upper and lower extrusion conveyor belts 22; the sub-arm 20 is connected to the main arm 19, and the extrusion mechanism 21 is connected to the sub-arm 20.

[0019] Furthermore, the displacement of the base 15 in the lateral direction is driven by the movement of the transverse base 6 to achieve the stacking of goods at different lateral positions. The transverse base 6 adopts a ball screw transmission form and is installed on the main frame 7.

[0020] like Figure 1 As shown, the working method of a container palletizing robot of the present invention has the following steps:

[0021] First, the feed bag is placed on the main conveyor belt 1, and the main conveyor belt 1 transports the feed bag to the lowering device 2; the lowering device 2 includes: the roller 8, the photoelectric switch 9, and the lowering plate 10; wherein the roller 8 is self-powered so that the feed bag can smoothly enter the lowering plate 10; when the feed bag enters the lowering plate 10, the photoelectric switch 9 located on the lowering plate 10 detects the entry of an object, and the lowering plate 10 is driven by the cylinder to open, so that the feed bag falls into the transverse receiving belt 3; the transverse receiving belt 3 moves to a position away from the main conveyor belt 1, and then the feed bag enters the pushing device 11; the pushing device 11 includes: the pushing cylinder 17 and the baffle 18; when the feed bag enters the pushing device 11, it is limited by the baffle 18. The feed bag will be ensured to be aligned with the front end receiving belt 13 of the telescopic belt. Then, the sensor fixed on the baffle detects that the feed bag has reached the position and sends a signal to the pushing cylinder 17. Then, the pushing cylinder 17 pushes the feed bag to the front end receiving belt 12 of the telescopic belt. After the feed bag reaches the front end receiving belt 12 of the telescopic belt, it is transferred to the telescopic belt 13. After being transferred by the telescopic belt 13, the feed bag reaches the base 15 and then enters the main arm 19. The main arm 19 has a built-in conveyor belt. The feed bag is transferred to the auxiliary arm 20 through the main arm 19. The auxiliary arm 20 has a built-in flexible conveyor belt. The feed bag passes through the auxiliary arm 20 and reaches the extrusion mechanism 21. The extrusion mechanism 21 pushes the feed bag out and stacks it at the designated position in the container through the extrusion function of the extrusion conveyor belts 22 on the upper and lower sides. The front end manipulator part 5 composed of the main arm 19, the auxiliary arm 20 and the extrusion mechanism 21 can fit the inner wall of the container to improve the space utilization rate. At the same time, the front end manipulator part 5 is driven by the vertical movable frame 16 to realize the position adjustment in the height direction, and is driven by the movable base 6 to realize the lateral position adjustment, so as to realize the placement of feed bags at various positions in the space and at various angles; the universal wheel 24 can adjust the position of the robot when stacking in the container until the stacking work of the entire container is completed.

[0022] The protection scope of the present invention is not limited to this, and any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined by the claims.

Claims

1. A container palletizing robot, characterized in that: It includes a main conveyor belt, a lowering device, a transverse receiving belt, a transverse moving part, a front-end manipulator part, a transverse moving base, a main frame, and universal wheels; the main conveyor belt is connected to the lowering device, the lowering device is horizontally connected to the main conveyor belt, and is connected to the main frame; the transverse receiving belt is located below the lowering device and is fixed on the main frame; the transverse moving part is located below the transverse receiving belt; the front-end manipulator part is connected to the transverse moving part; there are 8 sets of universal wheels in total, 4 sets are installed below the main frame, and 4 sets are installed below the main conveyor belt, so as to realize the overall movement of the stacking robot in the container; The transverse movement part includes a pushing device, a front end receiving belt of the telescopic belt, a telescopic belt, a telescopic plate, a base, and a vertical moving frame; the pushing device includes a pushing cylinder and a baffle; the pushing cylinder is fixed on the transverse movement base; the baffle is an L-shaped metal plate with a built-in sensor, which is fixed on the transverse movement base; the front end receiving belt of the telescopic belt is located below the transverse receiving belt and is fixed on the transverse movement base at 90 degrees to the transverse receiving belt; the front end manipulator part is adjusted in the height direction along with the vertical moving frame, and the vertical moving frame is fixed in the base, the telescopic belt is connected to the front end receiving belt of the telescopic belt, and the telescopic plate is a structure of two overlapping plates, which is used to support the telescopic belt and cooperate with the telescopic belt to change the length of the overlapping part of the two plates; the base is a frame structure, which is fixed on the transverse movement base, and is driven by the transverse movement base through a ball screw installed on the main frame to achieve transverse movement; The front-end manipulator part includes a main arm, a secondary arm, and an extrusion mechanism; the main arm has a built-in conveyor belt connected to the telescopic belt; the secondary arm is a parallelogram translation mechanism with a built-in flexible conveyor belt; the extrusion mechanism includes a cylinder and an extrusion conveyor belt; the four cylinders drive the upper and lower extrusion conveyor belts, and the distance between the extrusion conveyor belts is adjusted by changing the cylinder stroke to adapt to the output of feed bags of different thicknesses; the secondary arm is connected to the main arm, and the extrusion mechanism is connected to the secondary arm; The container palletizing robot works according to the following specific steps: First, the feed bag is placed on the main conveyor belt, and the main conveyor belt transports the feed bag to the lowering device; The lowering device includes: a roller, a photoelectric switch, and a lowering plate; the roller has its own power to send the feed bag to the lowering plate; after the feed bag enters the lowering plate, the photoelectric switch on the lowering plate detects the entry of the feed bag, and the lowering plate is driven by the cylinder to open, so that the feed bag falls into the horizontal receiving belt; The transverse receiving belt moves to a position away from the main conveyor belt, so that the feed bag enters the push-out device; after the feed bag enters the push-out device, under the limiting effect of the baffle, the feed bag will be aligned with the receiving belt at the front end of the telescopic belt, and then the sensor fixed on the baffle detects that the feed bag has reached the position and sends a signal to the push-out cylinder, and the push-out cylinder pushes the feed bag to the receiving belt at the front end of the telescopic belt; After the feed bag reaches the receiving belt at the front end of the telescopic belt, it is transferred to the telescopic belt. After being transferred by the telescopic belt, the feed bag reaches the base, then enters the main arm, and is then transferred to the auxiliary arm through the main arm. The feed bag passes through the auxiliary arm and reaches the extrusion mechanism, which pushes the feed bag out and stacks it at the designated position in the container.

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